In order to solve the research issues concerning to the force sensing ,vision of the heart surgery in the blood atmosphere and low cost which the well-known surgical robot da Vinci could not solve, we have carried out fundamental research on new surgical robot for the heart surgery by using the master-slave system composed of two DC motors which we have already developed. Numerical simulation program for designing the test equipment has been developed and the accuracy of the developed program has been confirmed. Next, we have built the experimental equipment of the 3-degrees-of-freedom surgical robot system in which master motors are attached on the operator’s body and slave motors are attached on the robot with force sensing, and the performance of the robot has been examined. Furthermore, the echo guide to obtain the vision of the heat surgery in the blood atmosphere and the control algorism for safety of the surgery of the pulsative heart have been discussed.